' IMS, MDrive 23 Hybrid CANopen
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MDrive 23 Hybrid CANopen

SKU: info-ims-maic23
Brand: IMS

The MDrive Hybrid 23 Linear Actuator CANopen offers system designers a NEMA 23 high torquestep motor integrated with an advanced, high resolution microstepping driver and a full featured CANopen interface.

MDrive CANopen products function as nodes on a system with central control such as a PLC. Note: they do not include the full programmability of the RS-422/485 Motion Control products.

This model also features Hybrid Technology which continually monitors the relationship between a step motor's rotor and stator at sub-microsecond intervals, and will not allow that relationship to exceed the point where synchronization is lost.

Features include:

  • Node ID and BAUD rate set by Layer Setting Services (LSS)
  • +12 to +60 VDC input voltage
  • Up to 283 oz-in (200 N-cm) holding torque
  • Capable of Standard Frequencies (10 kHz to 1 MHz)
  • Supports node monitoring via Node Guarding or Heartbeat Messages
  • Conforms to CiA DSP-402: Device Profile for Drives and Controls
  • Three PDO (Process Data Objects) which support variable PDO mapping
  • Robust programmable I/O (up to 8 general purpose points) with input filtering
  • Powerful instruction set with advanced math functions using 1-2 character mnemonics
  • Supported Modes of Operation
    • Profile Position
    • Homing Mode
    • Profile Velocity

 

 

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MDrive 23 Hybrid CANopen
MDrive 23 Hybrid CANopen
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General


DC input voltage

Range (includes back-EMF)

+12 to +60 VDC

Power supply current requirement

Max per MDrive Plus (depends on voltage and load)

3.5 A

Aux-Logic supply

Voltage

+12 to +24 VDC

Current requirement (max)

194 mA

Operating Temperature

Measured at heat sink (non-condensing humidity)

85°C

Measured at motor (non-condensing humidity)

100°C


I/O


Capture filter range

General purpose I/O

Number/type

8 I/O points, programmable as sinking or sourcing outputs or sinking and sourcing inputs (4 when remote encoder option is selected)

Logic range

Sourcing outputs +12 to +24 VDC, inputs and sinking outputs tolerant to +24 VDC, inputs TTL level compatible

Output sink current

Up to 600 mA per channel

High speed I/O

50 nS to 12.9 ?S (10 MHz to 38.8 kHz)

Capture resolution

32 bit

Trip output speed/resolution/threshold

150 ns/32 bit/TTL

Closed loop configuration 

Type

Internal magnetic differential

Steps per revolution

200,400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, 36000 (0.01 deg/?step), 21600 (1 arc minute/?step), 25400 (0.001mm/?step)

Encoder resolution

1000 lines (4000 edges)


Comm


Openloop configuration
(HMT off: AS = 0)

Number of microstep resolutions

20

Steps per revolution

200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, 36000 (0.01 deg/step), 21600 (1 arc minute/step),25400 (0.001mm/step)

Closed loop configuration
(HMT on - AS = 1, 2 or 3)

Type

Internal, differential, magnetic

Steps per revolution

51200

Encoder resolution

1000 lines (4000 edges)

Counters

Type

32 bit position and encoder

Edge rate (Max)

5 MHz

Velocity

Range

+/- 5,000,000 steps per second

Resolution

0.5961steps per second

Acceleration/deceleration

Range

1.5 X 109steps per second2

Resolution

90.9 steps per second2


Motion


Openloop configuration
(HMT off: AS = 0)

Number of microstep resolutions

20

Steps per revolution

200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, 36000 (0.01 deg/step), 21600 (1 arc minute/step),25400 (0.001mm/step)

Closed loop configuration
(HMT on - AS = 1, 2 or 3)

Type

Internal, differential, magnetic

Steps per revolution

51200

Encoder resolution

1000 lines (4000 edges)

Counters

Type

32 bit position and encoder

Edge rate (Max)

5 MHz

Velocity

Range

+/- 5,000,000 steps per second

Resolution

0.5961steps per second

Acceleration/deceleration

Range

1.5 X 109 steps per second2

Resolution

90.9 steps per second2

Stack lengthSingle lengthDouble lengthTriple lengthQuad length
Holding torqueoz-in90.0144.0239.0283.0
N-cm64.0102.0169.0200.0
Detent torqueoz-in2.75.69.714.2
N-cm1.173.926.8610.0
Rotor inertiaoz-in-sec20.00250.00370.00650.0108
kg-cm20.180.260.460.76
Weightoz21.626.439.261.6
grams612.3748.41111.31746.3
Torque/Speed Curves


Dimensions in inches (mm)

Connectivity

Communications Converters

Electrically Isolated, in-line converters pre-wired with mating connectors to conveniently set parameters and program a single MDrive Plus via a PC USB port.

Converter Part Number

Mating Connector Type

MD-CC500-000 (CANopen)

Interface cable required - view details

If building your own cabling, you will need:

  • Cabling with appropriate mating connectors for the MDrive model selected
  • For information on Party Mode (Multidrop) communications view the product manual

 

Prototype Development Cables

Prototype development cables are designed to speed test/development -wired mating connectors that have flying leads other end. No prototypedevelopment cables are available for the MDrive Plus using the 12' Flying Leads or Pluggable Clamp Terminal Strip.

Prototype Development Cable P/N

Mating Connector Type

Signal Type

PD14-2334-FL3

14-Pin Locking Wire Crimp

I/O

PD02-2300-FL3

2-Pin Locking Wire Crimp

DC Power

MD-CS100-000

19-Pin M23 Circular (Straight)

I/O and Power

MD-CS101-000

19-Pin M23 Circular (Right Angle)

I/O and Power

If building your own cabling, you will need:

  • Appropriate mating connector and crimp pins if required (Mating connector kits are available for Locking Wire Crimp style connectors)
  • Crimp tooling (Locking Wire Crimp) or solder station (19-Pin M23)
  • Shielded twisted pair cabling

 

Mating Connector Kits

Mating Connector Kits are used to build your own cables. Kits contain 5 mating connector shells with pins. Cable not supplied. Manufacturer crimp tooling recommended.

Mating Connector Kit P/N

Mating Connector Type

Shell Mfg. P/N

Crimp Pins Mfg. P/N

CK-09

14-Pin Locking Wire Crimp

JST:  PADP-14V-1S

JST:  SPH-001T-PO.5L

CK-04

2-Pin Locking Wire Crimp

Tyco:  794617-2

Tyco:  794610-1

 

Drive Protection Module

The function of the DPM75 Drive Protection Module is to limit the surge current and voltage to a safe level when DC input power is switched on and off to a motor drive. This provides the added protection necessary for reliable motor drive operation when switching the DC power, instead of the recommended AC power to the DC power supply. The device is designed to protect the motor drive when operating under all load conditions. This device does not protect the motor drive from wiring the power incorrectly.

The unit is capable of being used with 48, 60, and 75 volt rated motor drives. An external jumper selection is available so the user can match the circuit to their particular application. The DPM75 is capable of a steady state operating current of 4 amps.

The DPM75 can be used for any frame size motor drive, when properly configured. It can also be used for more than one unit provided the current and voltage do not exceed the DPM75's ratings. The maximum DPM75 ratings are 75 volts and 4 amps.

General


DC input voltage

Range (includes back-EMF)

+12 to +60 VDC

Power supply current requirement

Max per MDrive Plus (depends on voltage and load)

3.5 A

Aux-Logic supply

Voltage

+12 to +24 VDC

Current requirement (max)

194 mA

Operating Temperature

Measured at heat sink (non-condensing humidity)

85°C

Measured at motor (non-condensing humidity)

100°C


I/O


Capture filter range

General purpose I/O

Number/type

8 I/O points, programmable as sinking or sourcing outputs or sinking and sourcing inputs (4 when remote encoder option is selected)

Logic range

Sourcing outputs +12 to +24 VDC, inputs and sinking outputs tolerant to +24 VDC, inputs TTL level compatible

Output sink current

Up to 600 mA per channel

High speed I/O

50 nS to 12.9 ?S (10 MHz to 38.8 kHz)

Capture resolution

32 bit

Trip output speed/resolution/threshold

150 ns/32 bit/TTL

Closed loop configuration 

Type

Internal magnetic differential

Steps per revolution

200,400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, 36000 (0.01 deg/?step), 21600 (1 arc minute/?step), 25400 (0.001mm/?step)

Encoder resolution

1000 lines (4000 edges)


Comm


Openloop configuration
(HMT off: AS = 0)

Number of microstep resolutions

20

Steps per revolution

200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, 36000 (0.01 deg/step), 21600 (1 arc minute/step),25400 (0.001mm/step)

Closed loop configuration
(HMT on - AS = 1, 2 or 3)

Type

Internal, differential, magnetic

Steps per revolution

51200

Encoder resolution

1000 lines (4000 edges)

Counters

Type

32 bit position and encoder

Edge rate (Max)

5 MHz

Velocity

Range

+/- 5,000,000 steps per second

Resolution

0.5961steps per second

Acceleration/deceleration

Range

1.5 X 109steps per second2

Resolution

90.9 steps per second2


Motion


Openloop configuration
(HMT off: AS = 0)

Number of microstep resolutions

20

Steps per revolution

200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 40000, 50000, 51200, 36000 (0.01 deg/step), 21600 (1 arc minute/step),25400 (0.001mm/step)

Closed loop configuration
(HMT on - AS = 1, 2 or 3)

Type

Internal, differential, magnetic

Steps per revolution

51200

Encoder resolution

1000 lines (4000 edges)

Counters

Type

32 bit position and encoder

Edge rate (Max)

5 MHz

Velocity

Range

+/- 5,000,000 steps per second

Resolution

0.5961steps per second

Acceleration/deceleration

Range

1.5 X 109 steps per second2

Resolution

90.9 steps per second2